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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
#ifndef PX_CUSTOM_GEOMETRY_EXT_H
#define PX_CUSTOM_GEOMETRY_EXT_H
#include "geometry/PxCustomGeometry.h"
#include "geometry/PxGjkQuery.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxGeometry;
class PxMassProperties;
class PxGeometryHolder;
struct PxContactPoint;
/**
\brief Pre-made custom geometry callbacks implementations.
*/
class PxCustomGeometryExt
{
public:
/// \cond PRIVATE
struct BaseConvexCallbacks : PxCustomGeometry::Callbacks, PxGjkQuery::Support
{
BaseConvexCallbacks(float _margin) : margin(_margin) {}
// override PxCustomGeometry::Callbacks
virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const;
virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
PxContactBuffer& contactBuffer) const;
virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext*) const;
virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext*) const;
virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext*) const;
virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const;
// override PxGjkQuery::Support
virtual PxReal getMargin() const { return margin; }
// set margin
void setMargin(float m);
protected:
// Shape margin
float margin;
// Substitute geometry
virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0) const = 0;
};
/// \endcond
/**
\brief Cylinder geometry callbacks
*/
struct CylinderCallbacks : BaseConvexCallbacks
{
/**
\brief Construct cylinder geometry callbacks object
\param[in] height The cylinder height.
\param[in] radius The cylinder radius.
\param[in] axis The cylinder axis (0 - X, 1 - Y, 2 - Z).
\param[in] margin The cylinder margin.
*/
CylinderCallbacks(float height, float radius, int axis = 0, float margin = 0);
/// \brief Set cylinder height
/// \param[in] h The cylinder height
void setHeight(float h);
/// \brief Get cylinder height
/// \return The cylinder height
float getHeight() const { return height; }
/// \brief Set cylinder radius
/// \param[in] r The cylinder radius.
void setRadius(float r);
/// \brief Get cylinder radius
/// \return The cylinder radius
float getRadius() const { return radius; }
/// \brief Set cylinder axis
/// \param[in] a The cylinder axis (0 - X, 1 - Y, 2 - Z).
void setAxis(int a);
/// \brief Get cylinder axis
/// \return The cylinder axis
int getAxis() const { return axis; }
/// \cond PRIVATE
// override PxCustomGeometry::Callbacks
DECLARE_CUSTOM_GEOMETRY_TYPE
virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
// override PxGjkQuery::Support
virtual PxVec3 supportLocal(const PxVec3& dir) const;
virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const;
protected:
// Cylinder height
float height;
// Cylinder radius
float radius;
// Cylinder axis
int axis;
// Substitute geometry
virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0) const;
// Radius at height
float getRadiusAtHeight(float height) const;
/// \endcond
};
/**
\brief Cone geometry callbacks
*/
struct ConeCallbacks : BaseConvexCallbacks
{
/**
\brief Construct cone geometry callbacks object
\param[in] height The cylinder height.
\param[in] radius The cylinder radius.
\param[in] axis The cylinder axis (0 - X, 1 - Y, 2 - Z).
\param[in] margin The cylinder margin.
*/
ConeCallbacks(float height, float radius, int axis = 0, float margin = 0);
/// \brief Set cone height
/// \param[in] h The cone height
void setHeight(float h);
/// \brief Get cone height
/// \return The cone height
float getHeight() const { return height; }
/// \brief Set cone radius
/// \param[in] r The cone radius
void setRadius(float r);
/// \brief Get cone radius
/// \return The cone radius
float getRadius() const { return radius; }
/// \brief Set cone axis
/// \param[in] a The cone axis
void setAxis(int a);
/// \brief Get cone axis
/// \return The cone axis
int getAxis() const { return axis; }
/// \cond PRIVATE
// override PxCustomGeometry::Callbacks
DECLARE_CUSTOM_GEOMETRY_TYPE
virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
// override PxGjkQuery::Support
virtual PxVec3 supportLocal(const PxVec3& dir) const;
protected:
// Cone height
float height;
// Cone radius
float radius;
// Cone axis
int axis;
// Substitute geometry
virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0) const;
// Radius at height
float getRadiusAtHeight(float height) const;
/// \endcond
};
};
/// \cond PRIVATE
// OmniPVD friendly aliases
typedef PxCustomGeometryExt::BaseConvexCallbacks PxCustomGeometryExtBaseConvexCallbacks;
typedef PxCustomGeometryExt::CylinderCallbacks PxCustomGeometryExtCylinderCallbacks;
typedef PxCustomGeometryExt::ConeCallbacks PxCustomGeometryExtConeCallbacks;
/// \endcond
#if !PX_DOXYGEN
}
#endif
#endif